autopilot/misc/camera/a8/serialPort.cpp

#include "serialPort.h"
#include <QDebug>
#include "defines.h"

SerialPort::SerialPort(const QString &portName)
    : mSerialPort(portName)
{
    mSerialPort.setPortName(portName);
    mSerialPort.setBaudRate(QSerialPort::Baud115200);
    mSerialPort.setDataBits(QSerialPort::Data8);
    mSerialPort.setStopBits(QSerialPort::OneStop);
    mSerialPort.setFlowControl(QSerialPort::NoFlowControl);
}

SerialPort::~SerialPort()
{
    closePort(); // Close port if open on destruction
}

bool SerialPort::openPort()
{
    if (mSerialPort.isOpen()) {
        qDebug() << "Port already open";
        return true;
    }

    return mSerialPort.open(QIODevice::ReadWrite);
}

void SerialPort::closePort()
{
    if (mSerialPort.isOpen()) {
        mSerialPort.close();
    }
}

void SerialPort::sendCommand(const QByteArray &command)
{
    if (!mSerialPort.isOpen()) {
        qDebug() << "Error: Port not open";
        return;
    }

    mSerialPort.write(command);
}

QByteArray SerialPort::readResponse()
{
    if (!mSerialPort.isOpen()) {
        qDebug() << "Error: Port not open";
        return QByteArray();
    }

    // Read data from serial port until timeout or specific criteria met
    QByteArray response;
    while (mSerialPort.waitForReadyRead(SERIAL_RESPONSE_WAIT_TIME)) { // Adjust timeout as needed
        response.append(mSerialPort.readAll());
    }

    return response;
}